Control method and system of tea delivery robot and tea delivery robot

Abstract

The application discloses a kind of control method, system and tea delivery robot of tea delivery robot, the method includes: in response to tea brewing start instruction, determine the first path from the current position of tea delivery robot to tea brewing position;Control the tea delivery robot moves to the tea brewing position along the first path, whether the sensing data of cup support area satisfies the tea brewing completion rule is detected in real time, obtain first detection result;When the first detection result is yes, in response to tea delivery start instruction, determine the second path from the tea brewing position to user tea taking position;Control the tea delivery robot moves to the user tea taking position along the second path, for user to use the tea of cup support area.It can be seen that the present application can realize more efficient and automated tea delivery service of tea delivery robot, and provide more intelligent tea brewing and tea delivery use experience for user.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a control method, system and robot for a tea-serving robot. Background Technology

[0002] With the rapid adoption of robotics technology in catering, hotels, and office settings, users and service providers are increasingly emphasizing the intelligent execution of tea service processes. A key technical challenge is achieving intelligent path planning throughout the entire tea service process to enhance user experience. Current technologies typically provide automated tea brewing services by responding to brewing commands and using fixed-location water boiling or brewing equipment. However, users still need to manually add tea leaves or press buttons. Existing solutions lack real-time cup holder sensor data detection from brewing initiation to completion, dynamic planning of brewing and delivery paths, and intelligent switching mechanisms based on completion rules. This makes it difficult to achieve fully autonomous execution and seamless integration, limiting the intelligence level of service robots and the user experience. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a control method, system and robot for a tea delivery robot, which can realize a more efficient and automated tea delivery service based on path planning and command control, and provide users with a more intelligent tea brewing and delivery experience.

[0004] To address the aforementioned technical problems, the first aspect of this invention discloses a control method for a tea-serving robot, the method comprising: In response to the tea brewing start command, determine the first path from the current position of the tea delivery robot to the tea brewing position; The tea delivery robot is controlled to move along the first path to the tea brewing position, and the sensor data of the cup holder area is detected in real time to see if the tea brewing completion rules are met, and a first detection result is obtained. When the first detection result is yes, in response to the tea delivery start command, a second path from the tea brewing position to the user's tea retrieval position is determined; The tea delivery robot is controlled to move along the second path to the user's tea-taking position so that the user can take the tea from the cup holder area.

[0005] As an optional implementation, in the first aspect of the present invention, the current position, the tea brewing position, and the user's tea-taking position are all located within a preset tea table area.

[0006] As an optional implementation, in the first aspect of the present invention, the method further includes: The sensor data of the cup holder area is detected in real time to determine whether it meets the user's tea-taking rules, and a second detection result is obtained. When the second detection result is yes, it is determined that the tea delivery is complete and enters a waiting state. The sensor data of the cup holder area is detected in real time to see if it meets the user's return teacup rule, and a third detection result is obtained. When the third detection result is yes, a third path is determined from the user's tea-taking position to the tea-brewing position; Control the tea-delivery robot to move along the third path to the tea-brewing position.

[0007] As an optional implementation, in the first aspect of the present invention, the method further includes: Obtain the working data of the tea delivery robot during the aforementioned steps, and determine whether the working data meets the preset indicator rules to obtain the judgment result; the indicator rules include at least one of the following: full process completion indicator, full process no abnormality indicator, and robot hardware normal condition indicator; If the judgment result is yes, the tea delivery task is determined to be a complete closed loop, the work data is archived to obtain the operation log, and the operation log is saved.

[0008] As an optional implementation, in a first aspect of the invention, controlling the tea-delivering robot to move along the first path to the tea-brewing position includes: The tea-delivery robot is controlled to travel along the first path at a speed of ≤5cm / s. It dynamically avoids obstacles using a TOF vision algorithm and an infrared sensor. When it reaches a position 3cm away from the tea-brewing position, it decelerates to ≤1cm / s and stops at the tea-brewing position with a visual positioning accuracy of ±1mm using the QR code on the bottom.

[0009] As an optional implementation, in the first aspect of the invention, the second path satisfies at least one of the following path rules: The minimum distance from the edge of the pre-designed tea table area is ≥5cm; The minimum distance from the preset restricted area is ≥2cm; the restricted area is the tea tray area, teapot area, or tea pet ornament area; There are no sharp turning points with a turning radius smaller than the preset sharp turning radius threshold; The turning radius at each turning point is greater than or equal to the minimum turning radius of the tea-serving robot body; Without passing through pre-determined areas prone to waterlogging; And, without going through the pre-determined high-frequency activity area of ​​the user's hand.

[0010] As an optional implementation, in a first aspect of the invention, controlling the tea-delivering robot to move along the third path to the tea-brewing position includes: The tea-delivery robot is controlled to start and travel along the third path at a speed of ≤4cm / s, with the acceleration and deceleration slope controlled at ≤3cm / s². During the journey, high-frequency safety inspections are continuously performed, focusing on monitoring the distance to the edge of the tea table, dynamic obstacles, and the robot's posture. If an alarm is triggered, the robot immediately stops in place. After the abnormality is cleared, the robot resumes travel. When the robot reaches 3cm in front of the tea brewing position, it decelerates to ≤1cm / s and uses QR code visual positioning to achieve a precise stop at the tea brewing position with a stopping accuracy of ±1mm.

[0011] As an optional implementation, in a first aspect of the invention, the sensing data includes at least one of pressure sensing data, weight sensing data, visual sensing data, and attitude sensing data.

[0012] As an optional implementation, in the first aspect of the present invention, the tea brewing completion rules include: The weight of the cup holder area is within a preset range of full cup weight; The weight distribution uniformity deviation in the cup holder area is ≤5%; Furthermore, the body tilt angle of the cup holder area is ≤0.5°.

[0013] As an optional implementation, in the first aspect of the present invention, the user tea-taking rules include: The sensor data was identified using a human motion recognition algorithm to determine that the user had performed the action of taking a cup. Furthermore, the weight of the cup holder area is within a preset unloaded weight range.

[0014] As an optional implementation, in a first aspect of the invention, the user-returned-tea-cup rule includes; The weight of the cup holder area is within a preset range for the weight of an empty cup; The weight distribution uniformity deviation in the cup holder area is ≤5%; Furthermore, the body tilt angle of the cup holder area is ≤0.5°.

[0015] As an optional implementation, in the first aspect of the present invention, the method further includes: In response to the tea brewing start command, the tea delivery robot is controlled to wait at the tea brewing position and repeatedly execute the real-time detection of whether the sensor data of the cup holder area meets the tea brewing completion rules to obtain the first detection result and subsequent steps.

[0016] A second aspect of the present invention discloses a control system for a tea-serving robot, the system comprising: The first determining module is used to determine the first path from the current position to the tea brewing position in response to the tea brewing start command; The first control module is used to control the tea delivery robot to move along the first path to the tea brewing position, and to detect in real time whether the sensor data of the cup holder area meets the tea brewing completion rules, and to obtain the first detection result. The second determining module is used to determine a second path from the tea brewing position to the user's tea taking position in response to the tea delivery start command when the first detection result is yes. The second control module is used to control the tea delivery robot to move along the second path to the user's tea-taking position so that the user can take the tea from the cup holder area.

[0017] As an optional implementation, in a second aspect of the present invention, the current position, the tea brewing position, and the user's tea-taking position are all located within a preset tea table area.

[0018] As an optional implementation, in a second aspect of the invention, the system is further configured to perform the following steps: The sensor data of the cup holder area is detected in real time to determine whether it meets the user's tea-taking rules, and a second detection result is obtained. When the second detection result is yes, it is determined that the tea delivery is complete and enters a waiting state. The sensor data of the cup holder area is detected in real time to see if it meets the user's return teacup rule, and a third detection result is obtained. When the third detection result is yes, a third path is determined from the user's tea-taking position to the tea-brewing position; Control the tea-delivery robot to move along the third path to the tea-brewing position.

[0019] As an optional implementation, in a second aspect of the invention, the system is further configured to perform the following steps: Obtain the working data of the tea delivery robot during the aforementioned steps, and determine whether the working data meets the preset indicator rules to obtain the judgment result; the indicator rules include at least one of the following: full process completion indicator, full process no abnormality indicator, and robot hardware normal condition indicator; If the judgment result is yes, the tea delivery task is determined to be a complete closed loop, the work data is archived to obtain the operation log, and the operation log is saved.

[0020] As an optional implementation, in a second aspect of the invention, the specific manner in which the first control module controls the tea-delivering robot to move along the first path to the tea-brewing position includes: The tea-delivery robot is controlled to travel along the first path at a speed of ≤5cm / s. It dynamically avoids obstacles using a TOF vision algorithm and an infrared sensor. When it reaches a position 3cm away from the tea-brewing position, it decelerates to ≤1cm / s and stops at the tea-brewing position with a visual positioning accuracy of ±1mm using the QR code on the bottom.

[0021] As an optional implementation, in a second aspect of the invention, the second path satisfies at least one of the following path rules: The minimum distance from the edge of the pre-designed tea table area is ≥5cm; The minimum distance from the preset restricted area is ≥2cm; the restricted area is the tea tray area, teapot area, or tea pet ornament area; There are no sharp turning points with a turning radius smaller than the preset sharp turning radius threshold; The turning radius at each turning point is greater than or equal to the minimum turning radius of the tea-serving robot body; Without passing through pre-determined areas prone to waterlogging; And, without going through the pre-determined high-frequency activity area of ​​the user's hand.

[0022] As an optional implementation, in a second aspect of the invention, the specific manner in which the system controls the tea-delivering robot to move along the third path to the tea-brewing position includes: The tea-delivery robot is controlled to start and travel along the third path at a speed of ≤4cm / s, with the acceleration and deceleration slope controlled at ≤3cm / s². During the journey, high-frequency safety inspections are continuously performed, focusing on monitoring the distance to the edge of the tea table, dynamic obstacles, and the robot's posture. If an alarm is triggered, the robot immediately stops in place. After the abnormality is cleared, the robot resumes travel. When the robot reaches 3cm in front of the tea brewing position, it decelerates to ≤1cm / s and uses QR code visual positioning to achieve a precise stop at the tea brewing position with a stopping accuracy of ±1mm.

[0023] As an optional implementation, in a second aspect of the invention, the sensing data includes at least one of pressure sensing data, weight sensing data, visual sensing data, and attitude sensing data.

[0024] As an optional implementation, in a second aspect of the invention, the tea brewing completion rules include: The weight of the cup holder area is within a preset range of full cup weight; The weight distribution uniformity deviation in the cup holder area is ≤5%; Furthermore, the body tilt angle of the cup holder area is ≤0.5°.

[0025] As an optional implementation, in a second aspect of the invention, the user tea-taking rules include: The sensor data was identified using a human motion recognition algorithm to determine that the user had performed the action of taking a cup. Furthermore, the weight of the cup holder area is within a preset unloaded weight range.

[0026] As an optional implementation, in a second aspect of the invention, the user-returned-tea-cup rule includes; The weight of the cup holder area is within a preset range for the weight of an empty cup; The weight distribution uniformity deviation in the cup holder area is ≤5%; Furthermore, the body tilt angle of the cup holder area is ≤0.5°.

[0027] As an optional implementation, in a second aspect of the invention, the system is further configured to perform the following steps: In response to the tea brewing start command, the tea delivery robot is controlled to wait at the tea brewing position and repeatedly execute the real-time detection of whether the sensor data of the cup holder area meets the tea brewing completion rules to obtain the first detection result and subsequent steps.

[0028] A third aspect of the present invention discloses another control system for a tea-serving robot, the system comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute some or all of the steps in the control method of the tea-serving robot disclosed in the first aspect of the present invention.

[0029] The fourth aspect of the present invention discloses a tea-serving robot, which includes a cup holder supporting mechanism, a drive mechanism, and a controller connected to the cup holder supporting mechanism and the drive mechanism. The controller controls the tea-serving robot by executing the control method of the tea-serving robot disclosed in the first aspect of the present invention.

[0030] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: As can be seen, the present invention can achieve a more efficient and automated tea delivery service by planning and controlling the path of the tea brewing position and the user's tea picking position when responding to the start command, thus providing users with a more intelligent tea brewing and delivery experience. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a flowchart illustrating a control method for a tea-serving robot disclosed in an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram of the control system of a tea-serving robot disclosed in an embodiment of the present invention.

[0034] Figure 3 This is a schematic diagram of the control system of another tea-serving robot disclosed in an embodiment of the present invention. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] The terms "second," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0037] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0038] This invention discloses a control method, system, and robot for a tea-delivery robot. Based on path planning and command control, it enables more efficient and automated tea delivery services, providing users with a more intelligent tea-brewing and delivery experience. These are described in detail below.

[0039] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a control method for a tea-serving robot disclosed in an embodiment of the present invention. Figure 1 The described control method for the tea-serving robot is applied to a data processing chip, processing terminal, or processing server (wherein the processing server can be a local server or a cloud server). For example... Figure 1 As shown, the control method for this tea-serving robot may include the following operations: 101. In response to the tea brewing start command, determine the first path from the current position of the tea delivery robot to the tea brewing position; Optionally, the current location, the tea brewing location, and the user's tea retrieval location are all located within a preset tea table area.

[0040] Optionally, before the tea brewing start command is issued, the tea delivery robot can be controlled to stop at a preset fixed standby position at the corner of the tea table area, and confirm that the digital mapping of the tea table and the safety boundary calibration are completed, the hardware self-test of the entire system is qualified, the remaining power is ≥20%, lock the precise coordinates of the tea brewing position and the target user's cup taking position, listen for task commands in real time, and enter the cyclic start standby state.

[0041] Specifically, upon receiving a start command for the tea brewing station via voice / touch button / manual trigger, the system immediately plans the first safe path from the standby position to the tea brewing position.

[0042] 102. Control the tea delivery robot to move along the first path to the tea brewing position, and detect in real time whether the sensor data of the cup holder area meets the tea brewing completion rules to obtain the first detection result; Optionally, the sensing data in this embodiment may include at least one of pressure sensing data, weight sensing data, visual sensing data, and posture sensing data.

[0043] Optional, tea brewing completion rules include; The weight of the cup holder area is within the preset full cup weight range; The weight distribution uniformity deviation in the cup holder area is ≤5%; In addition, the tilt angle of the cup holder area is ≤0.5°.

[0044] Specifically, after the tea delivery robot arrives at the tea brewing location, it automatically unlocks the magnetic locking mechanism of the cup holder, waiting for the operator to place the empty teacup into the cup holder and complete the tea brewing and water pouring action.

[0045] Specifically, the cup holder has four built-in distributed pressure sensors that monitor the load status in real time. When three conditions are met simultaneously: "the weight of the teacup containing tea is within a preset range (150g-600g, customizable)," "weight distribution uniformity deviation ≤ 5%," and "body tilt angle ≤ 0.5°," the cup holder locking mechanism is automatically triggered after a 2-second delay, firmly securing the teacup. Simultaneously, a voice feedback message is given: "Cup locked, delivery can begin."

[0046] The above solution enables the successful handling of empty cups, adapting to the entire manual tea brewing process. It ensures the stability and secure fixing of the teacup and tea, eliminating the risk of spillage and tipping during transportation. It mitigates key risks such as teacups being placed at an angle, abnormal tea weight, or unsecured cups leading to tipping and spillage during transport, and hot water overflow causing scalding to users.

[0047] 103. When the first detection result is yes, in response to the tea delivery start command, determine the second path from the tea brewing position to the user's tea collection position; Optionally, the second path satisfies at least one of the following path rules: The minimum distance from the edge of the pre-designed tea table area is ≥5cm; The minimum distance from the preset restricted area is ≥2cm; the restricted area is the tea tray area, teapot area, or tea pet ornament area; There are no sharp turning points with a turning radius smaller than the preset sharp turning radius threshold; The turning radius at each turning point is greater than or equal to the minimum turning radius of the tea-serving robot itself. Without passing through pre-determined areas prone to waterlogging; And, without going through the pre-determined high-frequency activity area of ​​the user's hand.

[0048] Specifically, upon receiving the tea delivery start command, the robot uses the A* algorithm to plan a second path from the tea brewing station to the user's cup-collecting station, based on a pre-built digital map of the tea table. The path must meet three safety requirements: ① It must be at least 5cm away from the edge of the tea table and at least 2cm away from fixed restricted areas (tea trays, teapots, tea pets); ② It must have no sharp turns and the turning radius must be at least equal to the robot's minimum turning radius; ③ It must prioritize avoiding areas with high water stains and areas where the user's hands frequently move. After the planning is completed, hierarchical dynamic obstacle avoidance rules and emergency shutdown strategies are pre-loaded, and the path and driving parameters are locked.

[0049] The above solution allows for the planning of the safest, smoothest, and most efficient routes for full-cup delivery, proactively mitigating fixed risks along the path and preparing for smooth transportation. It avoids problems such as collisions with fixed obstacles, spills due to sharp turns / acceleration / deceleration, slipping in water-filled areas, and falls near tea table edges caused by poor route planning.

[0050] 104. Control the tea delivery robot to move along the second path to the user's tea-taking position so that the user can take the tea from the cup holder area.

[0051] Specifically, after the second path is locked, the tea delivery robot is controlled to start and drive at a fully loaded rated low speed of ≤3cm / s, with the acceleration and deceleration slope controlled at ≤2cm / s², and there is no sudden acceleration, deceleration or sudden turning throughout the entire process; during the driving process, a full-dimensional safety inspection is performed at a high frequency of 100Hz, which monitors in real time the distance to the edge of the tea table, dynamic obstacles on the path (user's hands, temporarily placed mobile phones / teaware), the tilt angle of the body, the stability of the cup holder load, and the operating status of the sensors.

[0052] Specifically, when the warning rule is triggered (an obstacle appears within 10cm ahead), the vehicle immediately slows down to a stop. Once the obstacle is removed, the vehicle automatically resumes driving, with voice prompts synchronized throughout the entire process.

[0053] Specifically, the tea delivery robot is controlled to move to 3cm in front of the target user's cup-taking position, automatically decelerate to ≤1cm / s, and complete a second precise stop through the QR code and visual positioning, with a stopping accuracy of ±1mm. After arriving in position, the drive wheel group is immediately locked to keep the body absolutely still. At the same time, a gentle voice / light prompts the user "Tea has been delivered, please take your cup" and the cup holder magnetic locking mechanism is automatically unlocked.

[0054] The above solution ensures extremely stable transportation of a full cup of tea, with real-time monitoring and handling of any unforeseen risks throughout the process, guaranteeing zero spills, zero collisions, and zero safety incidents. It avoids issues such as hot water spilling and scalding users due to sudden acceleration / deceleration / bumps, collisions with users / temporary obstacles during transport, robots falling off tea tables, and cups becoming loose and tipping over during transport.

[0055] As can be seen, the above-described embodiments of the invention can achieve more efficient and automated tea delivery services by using a tea delivery robot based on path planning and command control, providing users with a more intelligent tea brewing and delivery experience.

[0056] As an optional embodiment, the step of controlling the tea-delivery robot to move along the first path to the tea-brewing position in the above steps includes: The tea-delivery robot is controlled to travel along the first path at a speed of ≤5cm / s. It dynamically avoids obstacles using a TOF vision algorithm and infrared sensors. When it reaches a position 3cm away from the tea-brewing position, it decelerates to ≤1cm / s and stops at the tea-brewing position with a visual positioning accuracy of ±1mm using the QR code on the bottom.

[0057] Specifically, once the tea-delivery robot arrives at its destination, the drive wheel assembly is immediately locked to keep the robot completely still.

[0058] The above embodiments enable precise positioning at key points in the tea-brewing process, providing a stable stationary platform for subsequent cup receiving and manual tea-brewing actions. This ensures the docking position perfectly matches the operational habits of manual tea brewing. It avoids problems such as collisions with teaware / users during movement, inconvenience caused by misaligned parking, robot slippage due to unlocked wheels, and displacement deviations during sudden stops. As an optional embodiment, the method further includes: The sensor data in the cup holder area is detected in real time to determine whether it meets the user's tea-taking rules, and a second detection result is obtained. When the second detection result is yes, it is determined that the tea delivery is complete and enters the waiting state. The sensor data of the cup holder area is detected in real time to see if it meets the user's return tea cup rules, and the third detection result is obtained. If the third detection result is yes, determine the third path from the user's tea-taking location to the tea-brewing location; Control the tea delivery robot to move along the third path to the tea brewing position.

[0059] Optional, user tea-taking rules include: The algorithm uses human motion recognition to identify sensor data and determine whether the user has performed the action of taking a cup. In addition, the weight of the cup holder area is within the preset unloaded weight range.

[0060] Specifically, the tea delivery robot uses pressure sensors and human proximity sensors to monitor the user's actions of taking the cup in real time. Once it confirms that the teacup has been completely taken away and the cup holder is empty, it sends a message to the system saying "full cup delivery completed".

[0061] The above solution enables the tea delivery robot to accurately reach the user, safely deliver a full cup of tea, ensure the user's convenience and safety when retrieving the cup, and complete the closed loop of the outbound delivery process. It avoids problems such as misalignment causing inconvenience for the user, unlocked wheels causing the robot to slide, erroneous robot movements when the user retrieves the cup, and tea spillage due to the cup not being unlocked.

[0062] Optionally, the rules for the user to return a teacup include: The weight of the cup holder area is within the preset empty cup weight range; The weight distribution uniformity deviation in the cup holder area is ≤5%; In addition, the tilt angle of the cup holder area is ≤0.5°.

[0063] Specifically, after the full cup is delivered, the tea delivery robot remains locked and stationary at the user's cup-taking position, with the cup holder remaining unlocked, and enters the empty cup recycling standby mode; the default waiting time is 3 minutes (can be temporarily adjusted via voice / mini-program), and after the user finishes drinking, the empty cup is placed back in the cup holder; 4 distributed pressure sensors detect in real time, and when the weight of the empty cup is detected to be within the preset range, the weight distribution is uniform, and the robot's posture is stable, the cup holder locking mechanism is automatically triggered after a 1-second delay to fix the empty cup, and at the same time, the user is informed that "the empty cup has been locked and will soon return to the tea brewing position".

[0064] The above solution allows for adaptation to the user's drinking time and conversation pace, eliminating the need for the robot to frequently move around and disturb the user. It automatically triggers the recycling process after the empty cup is returned, conforming to tea table etiquette. This avoids problems such as the robot frequently moving and disturbing the user, the empty cup being tilted and tipping over during recycling and transportation, and the cup falling due to lack of locking.

[0065] Specifically, after the empty cup is locked, the tea delivery robot automatically plans the globally optimal third return path from the user's cup-taking position back to the tea-brewing position. It prioritizes safe routes that do not intersect with the outbound path, avoiding blind spot risks caused by repeated back-and-forth paths. Simultaneously, it re-verifies fixed obstacles and safe distances to the tea table edges along the entire path, updates temporary obstacle markers, pre-loads return-trip emergency obstacle avoidance strategies, and locks the path and driving parameters. This ensures a safe and efficient route for empty cup transportation, adapting to dynamic changes in the tea table environment and guaranteeing a smooth and safe return journey. It avoids collision risks caused by intersections between the return and outbound paths, collisions due to map mismatches after environmental changes, and falls due to paths close to the tea table edges.

[0066] As an optional embodiment, the step of controlling the tea-delivery robot to move along the third path to the tea-brewing position in the above steps includes: The tea-delivery robot starts and travels along the third path at a speed of ≤4cm / s, with acceleration and deceleration rates controlled at ≤3cm / s². During its journey, it continuously performs high-frequency safety checks, focusing on monitoring the distance to the tea table edge, dynamic obstacles, and the robot's posture. If an alarm is triggered, it immediately stops in place. After the anomaly is resolved, it resumes travel, decelerating to ≤1cm / s 3cm before the tea brewing area. Using QR code visual positioning, it precisely stops at the brewing area with a stopping accuracy of ±1mm, ensuring the empty cups return to the brewing area intact, completing the core action of the retrieval process. This avoids issues such as collisions with users / obstacles, empty cups tipping over, and the robot falling off the tea table during the return journey.

[0067] Specifically, the tea delivery robot travels to within 3cm of the brewing station, decelerates to ≤1cm / s, and uses QR code visual positioning to achieve precise parking with an accuracy of ±1mm. Upon arrival, it immediately locks the drive wheels, keeping the robot completely stationary. Simultaneously, it provides a voice prompt to the operator, "Empty cup returned, please retrieve it," and automatically unlocks the magnetic locking mechanism of the cup holder. After confirming via pressure sensors that the empty cup has been completely removed and the cup holder is empty, it reports, "Empty cup delivery complete." This precise return to the brewing starting point ensures the safe delivery of the empty cup, providing stable support for subsequent re-brewing / secondary brewing operations and creating a complete closed loop of "outbound delivery - return retrieval." This avoids problems such as inconvenience during re-brewing due to misaligned parking, slippage caused by unlocked wheels, spillage when retrieving an empty cup, and malfunctions in subsequent tasks due to foreign objects remaining on the cup holder.

[0068] As an optional embodiment, the method further includes: Obtain the work data of the tea delivery robot during the aforementioned steps, and determine whether the work data meets the preset indicator rules to obtain the judgment result; the indicator rules include at least one of the following: full process completion indicator, full process no abnormality indicator, and robot hardware normal condition indicator; If the judgment result is yes, the tea delivery task is confirmed as a complete closed loop, the work data is archived to obtain the operation log, and the operation log is saved.

[0069] Specifically, after the empty cup is delivered, the robot's main controller immediately performs a full-cycle closed-loop verification, checking three core indicators: ① All process nodes (standby → cup receiving → delivery → return → delivery) are completed; ② There are no abnormal alarms or safety trigger records during execution; ③ The robot's hardware, sensors, and battery are all in normal condition. After the verification is passed, the cycle is marked as "complete closed loop completion," and the full-process operation log is archived locally. If an abnormality is found during the verification, the abnormal node and cause are recorded simultaneously, and a prompt is issued.

[0070] The above embodiments enable closed-loop confirmation of the entire process for a single cycle, retain operational data, and ensure that the entire cycle is uninterrupted and anomaly-free, providing data support and fault tracing basis for subsequent cycle execution. This avoids task logic confusion caused by omitted cycle nodes, unrecorded and untraceable anomalies, and subsequent cycle safety incidents caused by hardware malfunctions.

[0071] As an optional embodiment, the method further includes: In response to the tea brewing start command, the tea delivery robot is controlled to wait at the tea brewing position and repeatedly executes real-time detection of whether the sensor data of the cup holder area meets the tea brewing completion rules, to obtain the first detection result and subsequent steps.

[0072] Specifically, after the cycle verification is completed, if a refill command is received immediately, the robot will lock itself in the tea brewing position and wait for the operator's tea brewing action to continue, directly entering the next cycle of tea brewing to complete the detection steps. If there is no immediate task command, the robot will return to its initial fixed standby position at low speed, locking the wheel assembly, zeroing the sensors, and resetting the cup holder mechanism, entering a low-power standby state. It will then listen for new task commands in real time and can start the next complete cycle at any time. This final reset of a single cycle does not occupy the core tea brewing operation space on the tea table, while seamlessly connecting to the next refill task, achieving continuous cyclical operation. This avoids the safety risks of the robot occupying the tea brewing position and affecting the operator's work, low battery standby causing interruption of the next task, and uncontrolled standby.

[0073] Example 2 Please see Figure 2 , Figure 2 This is a schematic diagram of the control system of a tea-serving robot disclosed in an embodiment of the present invention. Figure 2 The control system of the described tea-serving robot is applied in a data processing chip, processing terminal, or processing server (wherein the processing server can be a local server or a cloud server). For example... Figure 2 As shown, the control system of the tea-serving robot may include: The first determining module 201 is used to determine a first path from the current position to the tea brewing position in response to the tea brewing start command; The first control module 202 is used to control the tea delivery robot to move along the first path to the tea brewing position, and to detect in real time whether the sensor data of the cup holder area meets the tea brewing completion rules, and to obtain the first detection result. The second determining module 203 is used to determine a second path from the tea brewing position to the user's tea taking position in response to the tea delivery start command when the first detection result is yes. The second control module 204 is used to control the tea delivery robot to move along the second path to the user's tea-taking position so that the user can take the tea from the cup holder area.

[0074] As an optional embodiment, the current location, the tea brewing location, and the user's tea-taking location are all located within a preset tea table area.

[0075] As an optional embodiment, the system is also used to perform the following steps: The sensor data in the cup holder area is detected in real time to determine whether it meets the user's tea-taking rules, and a second detection result is obtained. When the second detection result is yes, it is determined that the tea delivery is complete and enters the waiting state. The sensor data of the cup holder area is detected in real time to see if it meets the user's return tea cup rules, and the third detection result is obtained. If the third detection result is yes, determine the third path from the user's tea-taking location to the tea-brewing location; Control the tea delivery robot to move along the third path to the tea brewing position.

[0076] As an optional embodiment, the system is also used to perform the following steps: Obtain the work data of the tea delivery robot during the aforementioned steps, and determine whether the work data meets the preset indicator rules to obtain the judgment result; the indicator rules include at least one of the following: full process completion indicator, full process no abnormality indicator, and robot hardware normal condition indicator; If the judgment result is yes, the tea delivery task is confirmed as a complete closed loop, the work data is archived to obtain the operation log, and the operation log is saved.

[0077] As an optional embodiment, the specific method by which the first control module 202 controls the tea-delivering robot to move along the first path to the tea-brewing position includes: The tea-delivery robot is controlled to travel along the first path at a speed of ≤5cm / s. It dynamically avoids obstacles using a TOF vision algorithm and infrared sensors. When it reaches a position 3cm away from the tea-brewing position, it decelerates to ≤1cm / s and stops at the tea-brewing position with a visual positioning accuracy of ±1mm using the QR code on the bottom.

[0078] As an optional embodiment, the second path satisfies at least one of the following path rules: The minimum distance from the edge of the pre-designed tea table area is ≥5cm; The minimum distance from the preset restricted area is ≥2cm; the restricted area is the tea tray area, teapot area, or tea pet ornament area; There are no sharp turning points with a turning radius smaller than the preset sharp turning radius threshold; The turning radius at each turning point is greater than or equal to the minimum turning radius of the tea-serving robot itself. Without passing through pre-determined areas prone to waterlogging; And, without going through the pre-determined high-frequency activity area of ​​the user's hand.

[0079] As an optional embodiment, the specific method by which the system controls the tea-delivery robot to move along the third path to the tea-brewing position includes: The tea-delivery robot is controlled to start and move along the third path at a speed of ≤4cm / s, with the acceleration and deceleration slope controlled at ≤3cm / s². During the movement, high-frequency safety inspections are continuously performed, focusing on monitoring the distance to the edge of the tea table, dynamic obstacles, and the robot's posture. If an alarm is triggered, the robot immediately stops in place. After the abnormality is cleared, the robot resumes movement. When the robot reaches 3cm in front of the tea brewing position, it decelerates to ≤1cm / s and uses QR code visual positioning to complete the final precise stop at the tea brewing position with a stopping accuracy of ±1mm.

[0080] As an optional embodiment, the sensing data includes at least one of pressure sensing data, weight sensing data, visual sensing data, and posture sensing data.

[0081] As an optional embodiment, the tea brewing completion rules include: The weight of the cup holder area is within the preset full cup weight range; The weight distribution uniformity deviation in the cup holder area is ≤5%; In addition, the tilt angle of the cup holder area is ≤0.5°.

[0082] As an optional embodiment, the user tea-taking rules include: The algorithm uses human motion recognition to identify sensor data and determine whether the user has performed the action of taking a cup. In addition, the weight of the cup holder area is within the preset unloaded weight range.

[0083] As an optional embodiment, the user-returned-tea-cup rule includes: The weight of the cup holder area is within the preset empty cup weight range; The weight distribution uniformity deviation in the cup holder area is ≤5%; In addition, the tilt angle of the cup holder area is ≤0.5°.

[0084] As an optional embodiment, the system is also used to perform the following steps: In response to the tea brewing start command, the tea delivery robot is controlled to wait at the tea brewing position and repeatedly executes real-time detection of whether the sensor data of the cup holder area meets the tea brewing completion rules, to obtain the first detection result and subsequent steps.

[0085] Specifically, the technical solutions of the above embodiments correspond to the method technical solutions in Embodiment 1, and their technical effects and specific implementation methods can also refer to the description in Embodiment 1. This invention will not repeat them here.

[0086] Example 3 Please see Figure 3 , Figure 3 This is another control system for a tea-serving robot disclosed in an embodiment of the present invention. Figure 3 The control system of the described tea-serving robot is applied in a data processing chip, processing terminal, or processing server (wherein the processing server can be a local server or a cloud server). For example... Figure 3 As shown, the control system of the tea-serving robot may include: Memory 301 storing executable program code; Processor 302 coupled to memory 301; The processor 302 calls the executable program code stored in the memory 301 to execute the steps of the control method for the tea-serving robot described in Embodiment 1.

[0087] Example 4 This invention discloses a computer read storage medium that stores a computer program for electronic data exchange, wherein the computer program causes a computer to execute the steps of the control method for the tea-serving robot described in Embodiment 1.

[0088] Example 5 This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps of the control method for the tea-serving robot described in Embodiment 1.

[0089] Example 6 This invention discloses a tea-serving robot, which includes a cup holder supporting mechanism, a drive mechanism, and a controller connected to the cup holder supporting mechanism and the drive mechanism. The controller controls the tea-serving robot by executing the control method for the tea-serving robot described in Embodiment 1. Specifically, for the control or hardware technical details of the tea-serving robot in this embodiment, please refer to the description in Embodiment 1, which will not be repeated here.

[0090] The foregoing has described specific embodiments of this specification; other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than those shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily have to follow the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0091] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, devices, and non-volatile computer-readable storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0092] The apparatus, device, non-volatile computer-readable storage medium and method provided in the embodiments of this specification are corresponding. Therefore, the apparatus, device and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, device and non-volatile computer storage medium will not be repeated here.

[0093] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0094] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0095] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0096] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0097] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0099] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0101] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0102] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0103] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0104] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0105] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0106] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0107] Finally, it should be noted that the control method, system, and tea-serving robot disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a tea-serving robot, characterized in that, The method includes: In response to the tea brewing start command, determine the first path from the current position of the tea delivery robot to the tea brewing position; The tea delivery robot is controlled to move along the first path to the tea brewing position, and the sensor data of the cup holder area is detected in real time to see if the tea brewing completion rules are met, and a first detection result is obtained. When the first detection result is yes, in response to the tea delivery start command, a second path from the tea brewing position to the user's tea retrieval position is determined; The tea delivery robot is controlled to move along the second path to the user's tea-taking position so that the user can take the tea from the cup holder area.

2. The control method for the tea-serving robot according to claim 1, characterized in that, The current location, the tea brewing location, and the user's tea-taking location are all located within a preset tea table area.

3. The control method for the tea-serving robot according to claim 1, characterized in that, The method further includes: The sensor data of the cup holder area is detected in real time to determine whether it meets the user's tea-taking rules, and a second detection result is obtained. When the second detection result is yes, it is determined that the tea delivery is complete and enters a waiting state. The sensor data of the cup holder area is detected in real time to see if it meets the user's return teacup rule, and a third detection result is obtained. When the third detection result is yes, a third path is determined from the user's tea-taking position to the tea-brewing position; Control the tea-delivery robot to move along the third path to the tea-brewing position.

4. The control method for the tea-serving robot according to claim 3, characterized in that, The method further includes: Obtain the working data of the tea delivery robot during the aforementioned steps, and determine whether the working data meets the preset indicator rules to obtain the judgment result; the indicator rules include at least one of the following: full process completion indicator, full process no abnormality indicator, and robot hardware normal condition indicator; If the judgment result is yes, the tea delivery task is determined to be a complete closed loop, the work data is archived to obtain the operation log, and the operation log is saved.

5. The control method for the tea-serving robot according to claim 3, characterized in that, Controlling the tea-delivery robot to move along the first path to the tea-brewing position includes: The tea delivery robot is controlled to travel along the first path at a speed of ≤5cm / s. It dynamically avoids obstacles using a TOF vision algorithm and an infrared sensor. When it reaches a position 3cm away from the tea brewing position, it decelerates to ≤1cm / s and stops at the tea brewing position with a visual positioning accuracy of ±1mm using the QR code on the bottom. And / or, The second path satisfies at least one of the following path rules: The minimum distance from the edge of the pre-designed tea table area is ≥5cm; The minimum distance from the preset restricted area is ≥2cm; the restricted area is the tea tray area, teapot area, or tea pet ornament area; There are no sharp turning points with a turning radius smaller than the preset sharp turning radius threshold; The turning radius at each turning point is greater than or equal to the minimum turning radius of the tea-serving robot body; Without passing through pre-determined areas prone to waterlogging; And, without going through the pre-determined high-frequency activity area of ​​the user's hand; And / or, Controlling the tea-delivery robot to move along the third path to the tea-brewing position includes: The tea-delivery robot is controlled to start and travel along the third path at a speed of ≤4cm / s, with the acceleration and deceleration slope controlled at ≤3cm / s². During the journey, high-frequency safety inspections are continuously performed, focusing on monitoring the distance to the edge of the tea table, dynamic obstacles, and the robot's posture. If an alarm is triggered, the robot immediately stops in place. After the abnormality is cleared, the robot resumes travel. When the robot reaches 3cm in front of the tea brewing position, it decelerates to ≤1cm / s and uses QR code visual positioning to achieve a precise stop at the tea brewing position with a stopping accuracy of ±1mm.

6. The control method for the tea-serving robot according to claim 3, characterized in that, The sensing data includes at least one of pressure sensing data, weight sensing data, visual sensing data, and posture sensing data; And / or, The rules for completing the tea brewing process include: The weight of the cup holder area is within a preset range of full cup weight; The weight distribution uniformity deviation in the cup holder area is ≤5%; Furthermore, the body tilt angle of the cup holder area is ≤0.5°; And / or, The user tea-taking rules include: The sensor data was identified using a human motion recognition algorithm to determine that the user had performed the action of taking a cup. Furthermore, the weight of the cup holder area is within a preset unloaded weight range; And / or, The user-returned teacup rule includes: The weight of the cup holder area is within a preset range for the weight of an empty cup; The weight distribution uniformity deviation in the cup holder area is ≤5%; Furthermore, the body tilt angle of the cup holder area is ≤0.5°.

7. The control method for the tea-serving robot according to claim 3, characterized in that, The method further includes: In response to the tea brewing start command, the tea delivery robot is controlled to wait at the tea brewing position and repeatedly execute the real-time detection of whether the sensor data of the cup holder area meets the tea brewing completion rules to obtain the first detection result and subsequent steps.

8. A control system for a tea-serving robot, characterized in that, The system includes: The first determining module is used to determine the first path from the current position to the tea brewing position in response to the tea brewing start command; The first control module is used to control the tea delivery robot to move along the first path to the tea brewing position, and to detect in real time whether the sensor data of the cup holder area meets the tea brewing completion rules, and to obtain the first detection result. The second determining module is used to determine a second path from the tea brewing position to the user's tea taking position in response to the tea delivery start command when the first detection result is yes. The second control module is used to control the tea delivery robot to move along the second path to the user's tea-taking position so that the user can take the tea from the cup holder area.

9. A control system for a tea-serving robot, characterized in that, The system includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the control method of the tea-serving robot as described in any one of claims 1-7.

10. A tea-serving robot, characterized in that, The tea-serving robot includes a cup holder support mechanism, a drive mechanism, and a controller connected to the cup holder support mechanism and the drive mechanism. The controller controls the tea-serving robot by executing the control method of the tea-serving robot as described in any one of claims 1-7.

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